2017年3月,伊豆大島共同打上実験 CORE_缶ロケチーム電装
Dependencies: MPU6050 MS5607 mbed SDFileSystem
main.cpp
- Committer:
- mikawataru
- Date:
- 2017-03-02
- Revision:
- 11:b61d0fcc2ed3
- Parent:
- 10:c1d1ff35a6a1
- Child:
- 12:211d2c6d2afc
File content as of revision 11:b61d0fcc2ed3:
/* 2017年3月 伊豆大島共同打上実験 団体名:CORE チーム名:ヌペリオル 該当電装:ロケット搭載用 使用部品 ・LPC1768(マイコン) ・MPU6050(加速度・ジャイロセンサ) ・MS5607(気圧・気温センサ) ・MicroSDスロット ・MG995(サーボモータ)×4 使用ライブラリ ・MPU6050.h https://developer.mbed.org/teams/mbed/code/SDFileSystem/ ・MS5607.h https://developer.mbed.org/users/yamaguch/code/MS5607/ ・SDFileSystem.h https://developer.mbed.org/teams/mbed/code/SDFileSystem/ ピン配置 LPC1768 MPU6050 MS5607 MicroSD MG995_1 MG995_2 MG995_3 MG995_4 VIN--------------------------------------------------------------------4.5~9.0V -----------------------------------VIN------VIN------VIN------VIN------5V Vout-----VCC------VIN-----VDD------------------------------------------3.3V \-ADO \-PS GND------GND------GND-----VSS------GND------GND------GND------GND------0V \-CS p9-------SDA------SDA---------------------------------------------------- p10------SCL------SCL---------------------------------------------------- p11-----------------------CLK-------------------------------------------- p12-----------------------DAT0------------------------------------------- p13-----------------------CMD-------------------------------------------- p14-----------------------CD/DAT0---------------------------------------- p23--------------------------------CTRL---------------------------------- p24-----------------------------------------CTRL------------------------- p25--------------------------------------------------CTRL---------------- p26-----------------------------------------------------------CTRL------- */ #include "mbed.h" #include "math.h" #include "MS5607I2C.h" #include "MPU6050.h" #include "SDFileSystem.h" /*判定パラメータ*/ #define ACC_LAUNCH 4//発射判定加速度[g] #define DROP_TOP 1.5//頂点判定最低降下量[m] #define ALT_CAN 350//缶サット開放高度[m] #define TIME_TOP 15//タイマー開放時間[s] /*動作レート*/ #define RATE_LOG 10//ログ用 #define RATE_OPEN 10//開放用 /*サーボ動作*/ #define LOCK 0.0005 #define UNLOCK 0.0015 /*フェイズ定義*/ #define STANDBY 0 #define LAUNCH 1 #define FLIGHT 2 #define DROP 3 #define P0 1013.25f//海面気圧[hPa] #define ACC 4096.0f//加速度オフセット値 /*ピン指定*/ MS5607I2C ms5607(p9, p10, false); MPU6050 mpu(p9,p10); BusOut myled(LED1,LED2,LED3,LED4); SDFileSystem sd(p11, p12, p13, p14, "sd"); Serial device(USBTX, USBRX); PwmOut Door_1_1(p23); PwmOut Door_1_2(p24); PwmOut Door_2_1(p25); PwmOut Door_2_2(p26); /*タイマー類*/ Timer timer; Ticker loop_log; Ticker loop_open; /*ログカウンタ*/ bool row = 0; int8_t col = 0; /*ログ格納用*/ float altitude[2][RATE_LOG],pressure[2][RATE_LOG],temperature[2][RATE_LOG]; float acc[2][RATE_LOG][3],gyro[2][RATE_LOG][3]; float t[2][RATE_LOG]; FILE *fp; /*フェーズ変数*/ int8_t Phase = STANDBY; /*判定用*/ float alt4open[RATE_OPEN],acc4open; float alt_max,alt_launch; float t_drop,t_top,t_launch; int8_t cnt_judge = 0; int8_t col_open = 0; /*関数*/ void _Open(); void _Servo(int8_t door_num, float motion); void _Log(); float _GetAlt(float press, float temp); float _Median(float data[], int num); /*---------------------------------------------------------------------*/ int main() { mpu.setAcceleroRange(2); mpu.setGyroRange(2); timer.start(); Door_1_1.period_ms(20); Door_1_2.period_ms(20); Door_2_1.period_ms(20); Door_2_2.period_ms(20); _Servo(0,LOCK); fp = fopen("/sd/log.txt", "w"); fprintf(fp, "pressure,temperature,ax,ay,az,gx,gy,gz\r\n"); loop_log.attach(&_Log,1.0/RATE_LOG); loop_open.attach(&_Open,1.0/RATE_OPEN); while(1); } /*開放用関数 RATE_OPEN[Hz]で判定を行う*/ void _Open(){ myled = 1 << (Phase-1); switch (Phase) { case STANDBY://スタンバイモード(発射判定不可) Phase = LAUNCH; break; case LAUNCH://点火モード(発射判定可) acc4open = (float)mpu.getAcceleroRawZ()/(ACC*0.981); alt4open[col_open] = _GetAlt(ms5607.getPressure()/100,ms5607.getTemperature()); if(acc4open>ACC_LAUNCH){ if(cnt_judge++==3){ Phase = FLIGHT; alt_launch = _Median(alt4open, RATE_OPEN); cnt_judge = 0; } t_launch = timer.read(); alt_max = alt_launch; }else{ if(timer.read()>t_launch+1.0) cnt_judge = 0; } device.printf("%f\r\n",acc4open); break; case FLIGHT://飛翔中(パラシュート開放判定) alt4open[col_open] = _GetAlt(ms5607.getPressure()/100,ms5607.getTemperature()); if(alt4open[col_open]>alt_max) alt_max = alt4open[col_open]; if(alt4open[col_open]<alt_max-DROP_TOP){ if(cnt_judge++==3){ _Servo(1,UNLOCK); Phase = DROP; cnt_judge = 0; } t_top = timer.read(); }else{ if(timer.read()>t_top+1.0) cnt_judge = 0; } if(timer.read()-t_launch>TIME_TOP){ _Servo(1,UNLOCK); Phase = DROP; cnt_judge = 0; } break; case DROP://降下中(缶サット開放判定) if(alt4open[col_open] < alt_launch+ALT_CAN){ if(cnt_judge++==3){ _Servo(2,UNLOCK); cnt_judge = 0; } t_drop = timer.read(); }else{ if(timer.read()>t_drop+1.0)cnt_judge = 0; } break; } if(col_open++==RATE_OPEN) col_open = 0; } /*記録用関数 RATE_LOG[Hz]で記録を行う*/ void _Log(){ t[row][col] = timer.read(); pressure[row][col] = ms5607.getPressure()/100; temperature[row][col] = ms5607.getTemperature(); mpu.getAccelero(&acc[row][col][0]); mpu.getGyro(&gyro[row][col][0]); fprintf(fp, "%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n", t[row][col],pressure[row][col],temperature[row][col],acc[row][col][0]/10.0, acc[row][col][1]/10.0,acc[row][col][2]/10.0,gyro[row][col][0],gyro[row][col][1],gyro[row][col][2] ); if(col++==RATE_LOG){ fclose(fp); fp = fopen("/sd/log.txt", "a"); row =! row; col = 0; } } /*サーボ動作用関数 _Servo(int8_t 扉番号,float pwm波長)*/ void _Servo(int8_t door_num, float motion){ if(door_num==0){//全扉 Door_1_1.pulsewidth(motion); Door_1_2.pulsewidth(motion); Door_2_1.pulsewidth(motion); Door_2_2.pulsewidth(motion); }else if(door_num==1){//扉1 Door_1_1.pulsewidth(motion); Door_1_2.pulsewidth(motion); }else if(door_num==2){//扉2 Door_2_1.pulsewidth(motion); Door_2_2.pulsewidth(motion); }else{ device.printf("error\r\n"); } } float _GetAlt(float press, float temp){ return (pow((P0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f; } float _Median(float data[], int num){ float median; float *sort = (float *)malloc(sizeof(float)*num); for(int i=0; i<num; i++) sort[i] = data[i]; for(int i=0; i<num; i++){ for(int j=0; j<num-i-1; j++){ if(sort[j]>sort[j+1]){ float buff = sort[j+1]; sort[j+1] = sort[j]; sort[j] = buff; } } } if(num%2!=0)median = sort[num/2]; else median = (sort[num/2-1]+sort[num/2])/2.0; free(sort); return median; }